static int wait_twi_complete()
{
int status;
int timeout = systick_get_ms() + TWI_TIMEOUT;
do {
status = twi_status();
if (status <= 0) return status;
} while (systick_get_ms() < timeout);
return status;
}
void logSend(S8 data1, S8 data2, S16 adc1, S16 adc2, S16 adc3, S16 adc4, S32 datas32, S32 datas32_2) {
static U8 data_log_buffer[32];
//左辺は結局data_log_bufferの中身を表している。要するにただの代入
//32ビット分アクセスするためにdata_log_bufferの[1]から[3]へはアクセスしてない。
*((U32 *)(&data_log_buffer[0])) = (U32)systick_get_ms();
*(( S8 *)(&data_log_buffer[4])) = (S8)data1;
*(( S8 *)(&data_log_buffer[5])) = (S8)data2;
*((U16 *)(&data_log_buffer[6])) = (U16)ecrobot_get_light_sensor(NXT_PORT_S3); //light sensor value
*((S32 *)(&data_log_buffer[8])) = (S32)nxt_motor_get_count(0);
*((S32 *)(&data_log_buffer[12])) = (S32)nxt_motor_get_count(1);
*((S32 *)(&data_log_buffer[16])) = (S32)nxt_motor_get_count(2);
*((S16 *)(&data_log_buffer[20])) = (S16)adc1;
*((S16 *)(&data_log_buffer[22])) = (S16)adc2;
*((S16 *)(&data_log_buffer[24])) = (S16)adc3;
*((S16 *)(&data_log_buffer[26])) = (S16)adc4;
*((S32 *)(&data_log_buffer[28])) = (U32)datas32_2;
ecrobot_send_bt_packet(data_log_buffer, 32);
}
// :3 Listen, here we will write the function that will decode only ONE order and will return some data, IF it's a sensors packet...
static void
decode_bro_input (const bro_fist_t * input_packet, bro_fist_t * output_packet, engines_t * motors )
{
U8 temp_port;
output_packet->port = input_packet->port;
output_packet->operation = input_packet->operation;
switch (input_packet->operation) {
case LIGHT_SENSOR:
decode_bro_port (input_packet->port, &temp_port);
output_packet->data = (float) ecrobot_get_light_sensor(temp_port);
break;
case TOUCH_SENSOR:
decode_bro_port (input_packet->port, &temp_port);
output_packet->data = (float) ecrobot_get_touch_sensor(temp_port);
break;
case SOUND_SENSOR:
decode_bro_port (input_packet->port, &temp_port);
output_packet->data = (float) ecrobot_get_sound_sensor(temp_port);
break;
case RADAR_SENSOR:
decode_bro_port (input_packet->port, &temp_port);
output_packet->data = (float) ecrobot_get_sonar_sensor(temp_port);
break;
case TACHO_COUNT:
decode_bro_port (input_packet->port, &temp_port);
output_packet->data = (float) nxt_motor_get_count(temp_port);
break;
case SET_POWER:
decode_bro_port (input_packet->port, &temp_port);
switch (temp_port) {
case NXT_PORT_A:
motors->first.speed_control_type = RAW_POWER;
motors->first.powers[0] = input_packet->data;
output_packet->data = (float) nxt_motor_get_count(NXT_PORT_A);
output_packet->timestamp = (float) systick_get_ms();
break;
case NXT_PORT_B:
motors->second.speed_control_type = RAW_POWER;
motors->second.powers[0] = input_packet->data;
break;
case NXT_PORT_C:
motors->third.speed_control_type = RAW_POWER;
motors->third.powers[0] = input_packet->data;
break;
};
break;
default:
//Nothing HERE
break;
};
}
void sonar_sensor_measurement(void)
{
// Variables used for distance measurement
S32 distance_left = 0;
S32 distance_right = 0;
int measurements = 0;
// Display menu
reset_sonar_measurement_menu();
while(true)
{
// Update values
distance_left += ecrobot_get_sonar_sensor(SONAR_SENSOR_FRONT);
distance_right += ecrobot_get_sonar_sensor(SONAR_SENSOR_REAR);
// Calculate average of new and previous
distance_left /= 2;
distance_right /= 2;
// Wait when over some measurements
if(measurements++ % MEASUREMENT_WAIT_INTERVAL == 0)
{
// Update the display
display_sonar_sensor_measurements(distance_left, distance_right);
systick_wait_ms(MEASUREMENT_WAIT);
}
// Chek if the enter button is pressed for long enough time to exit
if(ecrobot_is_ENTER_button_pressed())
{
// Time when the button was pressed
int enter_button_pressed_start_time = systick_get_ms();
// Continusly check if enought time has past to exit
while(ecrobot_is_ENTER_button_pressed())
{
if(enter_button_pressed_start_time + ENTER_BUTTON_EXIT_TIMEOUT <
systick_get_ms())
{
return;
}
}
}
}
}
/*---------------------------------------------------------------------
* This is the low level mechanism for monotonically increasing
* at a constant rate. Substitute code here to read some
* sort of hardware timer.
*-------------------------------------------------------------------*/
static ETimer_time_t
ETimer_msec_time( void )
{
ETimer_time_t t;
//ftime( &systyme );
//t = ( systyme.time * USEC_CONVERT ) + systyme.millitm;
t = systick_get_ms();
return ( t - tinit );
}
void ts_dispatch_timers()
{
if (!ts_timers_count || ts_timers[0].timestamp > systick_get_ms())
return;
TaskType taskId = ts_timers[0].task;
EventMaskType timerId = ts_timers[0].timer;
for (U8 i = 1; i < ts_timers_count; ++i)
ts_timers[i - 1] = ts_timers[i];
--ts_timers_count;
SetEvent(taskId, timerId);
}
//bluetoothログ送信関数
void logSend(S8 data1, S8 data2, S16 adc1, S16 adc2, S16 adc3, S16 adc4){
U8 data_log_buffer[32];
*((U32 *)(&data_log_buffer[0])) = (U32)systick_get_ms();
*(( S8 *)(&data_log_buffer[4])) = (S8)data1;
*(( S8 *)(&data_log_buffer[5])) = (S8)data2;
*((U16 *)(&data_log_buffer[6])) = (U16)ecrobot_get_light_sensor(NXT_PORT_S3);
*((S32 *)(&data_log_buffer[8])) = (S32)nxt_motor_get_count(0);
*((S32 *)(&data_log_buffer[12])) = (S32)nxt_motor_get_count(1);
*((S32 *)(&data_log_buffer[16])) = (S32)nxt_motor_get_count(2);
*((S16 *)(&data_log_buffer[20])) = (S16)adc1;
*((S16 *)(&data_log_buffer[22])) = (S16)adc2;
*((S16 *)(&data_log_buffer[24])) = (S16)adc3;
*((S16 *)(&data_log_buffer[26])) = (S16)adc4;
*((S32 *)(&data_log_buffer[28])) = (S32)ecrobot_get_sonar_sensor(NXT_PORT_S2);
ecrobot_send_bt_packet(data_log_buffer, 32);
}
/*---------------------------------------------------------------------
* Initialize the tick mechanism and the timer instances.
*-------------------------------------------------------------------*/
void
TIM_init( void )
{
#if ESCHER_SYS_MAX_XTUML_TIMERS > 0
u2_t i;
/*-----------------------------------------------------------------*/
/* Build the collection (linked list) of timers. */
/*-----------------------------------------------------------------*/
animate = 0; inanimate = 0;
for ( i = 0; i < ESCHER_SYS_MAX_XTUML_TIMERS; i++ ) {
swtimers[ i ].expiration = 0;
swtimers[ i ].recurrence = 0;
swtimers[ i ].event = 0;
swtimers[ i ].next = inanimate;
inanimate = &swtimers[ i ];
}
#endif /* if ESCHER_SYS_MAX_XTUML_TIMERS > 0 */
//ftime( &systyme ); /* Initialize the hardware ticker. */
//tinit = ( systyme.time * USEC_CONVERT ) + systyme.millitm;
tinit = systick_get_ms();
}
void wait(U32 delay)
{
if (ts_timers_count >= TS_MAX_TIMERS)
return;
const U32 timestamp = systick_get_ms() + delay;
U8 index = ts_bin_search(timestamp);
if (index < ts_timers_count && ts_timers[index].timestamp <= timestamp)
++index;
if (ts_timers_count)
for (U8 i = ts_timers_count - 1; i >= index; --i)
ts_timers[i + 1] = ts_timers[i];
ts_timers[index].timestamp = timestamp;
ts_timers[index].task = runtsk;
// TODO: This will not probably work if user declares own timers. Events must be taken by name or passed as parameter.
const EventMaskType timerId = (1UL << runtsk);
ts_timers[index].timer = timerId;
++ts_timers_count;
WaitEvent(timerId);
ClearEvent(timerId);
}
void error_detect_is_dog_alive() {
if(systick_get_ms() - lastDogKickReceived > 200) { // > X, where X is the time in ms. that we allow the NXTs to NOT communicate.
emergency_stop("RS485 Error","Watchdog Timeout");
}
}
void error_detect_dogkick_received() {
lastDogKickReceived = systick_get_ms();
//Check if "the dog is dead" (we havn't received anything for too long)
}
void error_detect_initialize() {
lastDogKickReceived = systick_get_ms() + 1000; //Gives us a second to start the other NXT
}
void LVC_doCtrl(LightValCtrl *self){
self->turn = PLVC_calcCtrlVal(&mPIDLightValCtrl,LV_getTargLightVal(&mLightVal),LV_getLightVal(&mLightVal),systick_get_ms()*0.001);
PIDLightValCtrlParm *parameter = LVC_getCtrlParm(&mLightValCtrl);
}
/**
* NOTE: The technique is not the same as that used in TinyVM.
* The return value indicates the impact of the call on the VM
* system. EXEC_CONTINUE normal return the system should return to the return
* address provided by the VM. EXEC_RUN The call has modified the value of
* VM PC and this should be used to restart execution. EXEC_RETRY The call
* needs to be re-tried (typically for a GC failure), all global state
* should be left intact, the PC has been set appropriately.
*
*/
int dispatch_native(TWOBYTES signature, STACKWORD * paramBase)
{
STACKWORD p0 = paramBase[0];
switch (signature) {
case wait_4_5V:
return monitor_wait((Object *) word2ptr(p0), 0);
case wait_4J_5V:
return monitor_wait((Object *) word2ptr(p0), ((int)paramBase[1] > 0 ? 0x7fffffff : paramBase[2]));
case notify_4_5V:
return monitor_notify((Object *) word2ptr(p0), false);
case notifyAll_4_5V:
return monitor_notify((Object *) word2ptr(p0), true);
case start_4_5V:
// Create thread, allow for instruction restart
return init_thread((Thread *) word2ptr(p0));
case yield_4_5V:
schedule_request(REQUEST_SWITCH_THREAD);
break;
case sleep_4J_5V:
sleep_thread(((int)p0 > 0 ? 0x7fffffff : paramBase[1]));
schedule_request(REQUEST_SWITCH_THREAD);
break;
case getPriority_4_5I:
push_word(get_thread_priority((Thread *) word2ptr(p0)));
break;
case setPriority_4I_5V:
{
STACKWORD p = (STACKWORD) paramBase[1];
if (p > MAX_PRIORITY || p < MIN_PRIORITY)
return throw_new_exception(JAVA_LANG_ILLEGALARGUMENTEXCEPTION);
else
set_thread_priority((Thread *) word2ptr(p0), p);
}
break;
case currentThread_4_5Ljava_3lang_3Thread_2:
push_ref(ptr2ref(currentThread));
break;
case interrupt_4_5V:
interrupt_thread((Thread *) word2ptr(p0));
break;
case interrupted_4_5Z:
{
JBYTE i = currentThread->interruptState != INTERRUPT_CLEARED;
currentThread->interruptState = INTERRUPT_CLEARED;
push_word(i);
}
break;
case isInterrupted_4_5Z:
push_word(((Thread *) word2ptr(p0))->interruptState
!= INTERRUPT_CLEARED);
break;
case join_4_5V:
join_thread((Thread *) word2ptr(p0), 0);
break;
case join_4J_5V:
join_thread((Thread *) word2obj(p0), paramBase[2]);
break;
case halt_4I_5V:
schedule_request(REQUEST_EXIT);
break;
case shutdown_4_5V:
shutdown_program(false);
break;
case currentTimeMillis_4_5J:
push_word(0);
push_word(systick_get_ms());
break;
case readSensorValue_4I_5I:
push_word(sp_read(p0, SP_ANA));
break;
case setPowerTypeById_4II_5V:
sp_set_power(p0, paramBase[1]);
break;
case freeMemory_4_5J:
push_word(0);
push_word(getHeapFree());
break;
case totalMemory_4_5J:
push_word(0);
push_word(getHeapSize());
break;
case floatToRawIntBits_4F_5I: // Fall through
case intBitsToFloat_4I_5F:
push_word(p0);
break;
case doubleToRawLongBits_4D_5J: // Fall through
case longBitsToDouble_4J_5D:
push_word(p0);
push_word(paramBase[1]);
break;
case drawString_4Ljava_3lang_3String_2II_5V:
{
String *p = (String *)word2obj(p0);
Object *charArray;
if (!p) return throw_new_exception(JAVA_LANG_NULLPOINTEREXCEPTION);
charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
if (!charArray) return throw_new_exception(JAVA_LANG_NULLPOINTEREXCEPTION);
display_goto_xy(paramBase[1], paramBase[2]);
display_jstring(p);
}
break;
case drawInt_4III_5V:
display_goto_xy(paramBase[1], paramBase[2]);
display_int(p0, 0);
break;
case drawInt_4IIII_5V:
display_goto_xy(paramBase[2], paramBase[3]);
display_int(p0, paramBase[1]);
break;
case asyncRefresh_4_5V:
display_update();
break;
case clear_4_5V:
display_clear(0);
break;
case getDisplay_4_5_1B:
push_word(display_get_array());
break;
case setAutoRefreshPeriod_4I_5I:
push_word(display_set_auto_update_period(p0));
break;
case getRefreshCompleteTime_4_5I:
push_word(display_get_update_complete_time());
break;
case bitBlt_4_1BIIII_1BIIIIIII_5V:
{
Object *src = word2ptr(p0);
Object *dst = word2ptr(paramBase[5]);
display_bitblt((byte *)(src != NULL ?jbyte_array(src):NULL), paramBase[1], paramBase[2], paramBase[3], paramBase[4], (byte *)(dst!=NULL?jbyte_array(dst):NULL), paramBase[6], paramBase[7], paramBase[8], paramBase[9], paramBase[10], paramBase[11], paramBase[12]);
break;
}
case getSystemFont_4_5_1B:
push_word(display_get_font());
break;
case setContrast_4I_5V:
nxt_lcd_set_pot(p0);
break;
case getBatteryStatus_4_5I:
push_word(battery_voltage());
break;
case getButtons_4_5I:
push_word(buttons_get());
break;
case getTachoCountById_4I_5I:
push_word(nxt_motor_get_count(p0));
break;
case controlMotorById_4III_5V:
nxt_motor_set_speed(p0, paramBase[1], paramBase[2]);
break;
case resetTachoCountById_4I_5V:
nxt_motor_set_count(p0, 0);
break;
case i2cEnableById_4II_5V:
if (i2c_enable(p0, paramBase[1]) == 0)
return EXEC_RETRY;
else
break;
case i2cDisableById_4I_5V:
i2c_disable(p0);
break;
case i2cStatusById_4I_5I:
push_word(i2c_status(p0));
break;
case i2cStartById_4II_1BIII_5I:
{
Object *p = word2obj(paramBase[2]);
JBYTE *byteArray = p ? jbyte_array(p) + paramBase[3] : NULL;
push_word(i2c_start(p0,
paramBase[1],
(U8 *)byteArray,
paramBase[4],
paramBase[5]));
}
break;
case i2cCompleteById_4I_1BII_5I:
{
Object *p = word2ptr(paramBase[1]);
JBYTE *byteArray = p ? jbyte_array(p) + paramBase[2] : NULL;
push_word(i2c_complete(p0,
(U8 *)byteArray,
paramBase[3]));
}
break;
case playFreq_4III_5V:
sound_freq(p0,paramBase[1], paramBase[2]);
break;
case btGetBC4CmdMode_4_5I:
push_word(bt_get_mode());
break;
case btSetArmCmdMode_4I_5V:
if (p0 == 0) bt_set_arm7_cmd();
else bt_clear_arm7_cmd();
break;
case btSetResetLow_4_5V:
bt_set_reset_low();
break;
case btSetResetHigh_4_5V:
bt_set_reset_high();
break;
case btWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(bt_write(byteArray, paramBase[1], paramBase[2]));
}
break;
case btRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(bt_read(byteArray, paramBase[1], paramBase[2]));
}
break;
case btPending_4_5I:
{
push_word(bt_event_check(0xffffffff));
}
break;
case btEnable_4_5V:
if (bt_enable() == 0)
return EXEC_RETRY;
else
break;
case btDisable_4_5V:
bt_disable();
break;
case usbRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(udp_read(byteArray,paramBase[1], paramBase[2]));
}
break;
case usbWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(udp_write(byteArray,paramBase[1], paramBase[2]));
}
break;
case usbStatus_4_5I:
{
push_word(udp_event_check(0xffffffff));
}
break;
case usbEnable_4I_5V:
{
udp_enable(p0);
}
break;
case usbDisable_4_5V:
{
udp_disable();
}
break;
case usbReset_4_5V:
udp_reset();
break;
case usbSetSerialNo_4Ljava_3lang_3String_2_5V:
{
byte *p = word2ptr(p0);
int len;
Object *charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
len = get_array_length(charArray);
udp_set_serialno((U8 *)jchar_array(charArray), len);
}
break;
case usbSetName_4Ljava_3lang_3String_2_5V:
{
byte *p = word2ptr(p0);
int len;
Object *charArray = (Object *) word2ptr(get_word_4_ns(fields_start(p)));
len = get_array_length(charArray);
udp_set_name((U8 *)jchar_array(charArray), len);
}
break;
case flashWritePage_4_1BI_5I:
{
Object *p = word2ptr(p0);
unsigned long *intArray = (unsigned long *) jint_array(p);
push_word(flash_write_page(intArray,paramBase[1]));
}
break;
case flashReadPage_4_1BI_5I:
{
Object *p = word2ptr(p0);
unsigned long *intArray = (unsigned long *) jint_array(p);
push_word(flash_read_page(intArray,paramBase[1]));
}
break;
case flashExec_4II_5I:
push_word(run_program((byte *)(&FLASH_BASE[(p0*FLASH_PAGE_SIZE)]), paramBase[1]));
break;
case playSample_4IIIII_5V:
sound_play_sample(((unsigned char *) &FLASH_BASE[(p0*FLASH_PAGE_SIZE)]) + paramBase[1],paramBase[2],paramBase[3],paramBase[4]);
break;
case playQueuedSample_4_1BIIII_5I:
push_word(sound_add_sample((U8 *)jbyte_array(word2obj(p0)) + paramBase[1],paramBase[2],paramBase[3],paramBase[4]));
break;
case getTime_4_5I:
push_word(sound_get_time());
break;
case getDataAddress_4Ljava_3lang_3Object_2_5I:
if (is_array(word2obj(p0)))
push_word (ptr2word ((byte *) array_start(word2ptr(p0))));
else
push_word (ptr2word ((byte *) fields_start(word2ptr(p0))));
break;
case getObjectAddress_4Ljava_3lang_3Object_2_5I:
push_word(p0);
break;
case gc_4_5V:
// Restartable garbage collection
return garbage_collect();
case shutDown_4_5V:
shutdown(); // does not return
case boot_4_5V:
display_clear(1);
while (1) nxt_avr_firmware_update_mode(); // does not return
case arraycopy_4Ljava_3lang_3Object_2ILjava_3lang_3Object_2II_5V:
return arraycopy(word2ptr(p0), paramBase[1], word2ptr(paramBase[2]), paramBase[3], paramBase[4]);
case executeProgram_4I_5V:
// Exceute program, allow for instruction re-start
return execute_program(p0);
case setDebug_4_5V:
set_debug(word2ptr(p0));
break;
case eventOptions_4II_5I:
{
byte old = debugEventOptions[p0];
debugEventOptions[p0] = (byte)paramBase[1];
push_word(old);
}
break;
case suspendThread_4Ljava_3lang_3Object_2_5V:
suspend_thread(ref2ptr(p0));
break;
case resumeThread_4Ljava_3lang_3Object_2_5V:
resume_thread(ref2ptr(p0));
break;
case getProgramExecutionsCount_4_5I:
push_word(gProgramExecutions);
break;
case getFirmwareRevision_4_5I:
push_word((STACKWORD) getRevision());
break;
case getFirmwareRawVersion_4_5I:
push_word((STACKWORD) VERSION_NUMBER);
break;
case hsEnable_4II_5V:
{
if (hs_enable((int)p0, (int)paramBase[1]) == 0)
return EXEC_RETRY;
}
break;
case hsDisable_4_5V:
{
hs_disable();
}
break;
case hsWrite_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(hs_write(byteArray, paramBase[1], paramBase[2]));
}
break;
case hsRead_4_1BII_5I:
{
Object *p = word2ptr(p0);
byte *byteArray = (byte *) jbyte_array(p);
push_word(hs_read(byteArray, paramBase[1], paramBase[2]));
}
break;
case hsPending_4_5I:
{
push_word(hs_pending());
}
break;
case hsSend_4BB_1BII_1C_5I:
{
Object *p = word2ptr(paramBase[2]);
U8 *data = (U8 *)jbyte_array(p);
p = word2ptr(paramBase[5]);
U16 *crc = (U16 *)jchar_array(p);
push_word(hs_send((U8) p0, (U8)paramBase[1], data, paramBase[3], paramBase[4], crc));
}
break;
case hsRecv_4_1BI_1CI_5I:
{
Object *p = word2ptr(p0);
U8 *data = (U8 *)jbyte_array(p);
p = word2ptr(paramBase[2]);
U16 *crc = (U16 *)jchar_array(p);
push_word(hs_recv(data, paramBase[1], crc, paramBase[3]));
}
break;
case getUserPages_4_5I:
push_word(FLASH_MAX_PAGES - flash_start_page);
break;
case setVMOptions_4I_5V:
gVMOptions = p0;
break;
case getVMOptions_4_5I:
push_word(gVMOptions);
break;
case isAssignable_4II_5Z:
push_word(is_assignable(p0, paramBase[1]));
break;
case cloneObject_4Ljava_3lang_3Object_2_5Ljava_3lang_3Object_2:
{
Object *newObj = clone((Object *)ref2obj(p0));
if (newObj == NULL) return EXEC_RETRY;
push_word(obj2ref(newObj));
}
break;
case memPeek_4III_5I:
push_word(mem_peek(p0, paramBase[1], paramBase[2]));
break;
case memCopy_4Ljava_3lang_3Object_2IIII_5V:
mem_copy(word2ptr(p0), paramBase[1], paramBase[2], paramBase[3], paramBase[4]);
break;
case memGetReference_4II_5Ljava_3lang_3Object_2:
push_word(mem_get_reference(p0, paramBase[1]));
break;
case setSensorPin_4III_5V:
sp_set(p0, paramBase[1], paramBase[2]);
break;
case getSensorPin_4II_5I:
push_word(sp_get(p0, paramBase[1]));
break;
case setSensorPinMode_4III_5V:
sp_set_mode(p0, paramBase[1], paramBase[2]);
break;
case readSensorPin_4II_5I:
push_word(sp_read(p0, paramBase[1]));
break;
case nanoTime_4_5J:
{
U64 ns = systick_get_ns();
push_word(ns >> 32);
push_word(ns);
}
break;
case createStackTrace_4Ljava_3lang_3Thread_2Ljava_3lang_3Object_2_5_1I:
{
Object *trace = create_stack_trace((Thread *)ref2obj(p0), ref2obj(paramBase[1]));
if (trace == NULL) return EXEC_RETRY;
push_word(obj2ref(trace));
}
break;
case registerEvent_4_5I:
push_word(register_event((NXTEvent *) ref2obj(p0)));
break;
case unregisterEvent_4_5I:
push_word(unregister_event((NXTEvent *) ref2obj(p0)));
break;
case changeEvent_4II_5I:
push_word(change_event((NXTEvent *) ref2obj(p0), paramBase[1], paramBase[2]));
break;
case isInitialized_4I_5Z:
push_word(is_initialized_idx(p0));
break;
case allocate_4II_5Ljava_3lang_3Object_2:
{
Object *allocated;
if(paramBase[1]>0){
allocated=new_single_array(p0,paramBase[1]);
}else{
allocated=new_object_for_class(p0);
}
if(allocated == NULL) return EXEC_RETRY;
push_word(obj2ref(allocated));
}
break;
case memPut_4IIII_5V:
store_word_ns((byte *)(memory_base[p0] + paramBase[1]), paramBase[2],paramBase[3]);
break;
case notifyEvent_4ILjava_3lang_3Thread_2_5Z:
push_word(debug_event(paramBase[1], NULL, (Thread*) ref2obj(paramBase[2]), 0, 0, 0, 0));
break;
case setThreadRequest_4Ljava_3lang_3Thread_2Llejos_3nxt_3debug_3SteppingRequest_2_5V:
{
Thread *th = (Thread*) ref2obj(p0);
th->debugData = (REFERENCE) paramBase[1];
// currently we only get stepping requests
if(paramBase[1])
th->flags |= THREAD_STEPPING;
else
th->flags &= ~THREAD_STEPPING;
}
break;
case isStepping_4Ljava_3lang_3Thread_2_5Z:
{
Thread *th = (Thread*) ref2obj(p0);
push_word(is_stepping(th));
}
break;
case setBreakpointList_4_1Llejos_3nxt_3debug_3Breakpoint_2I_5V:
breakpoint_set_list((Breakpoint**) array_start(p0), paramBase[1]);
break;
case enableBreakpoint_4Llejos_3nxt_3debug_3Breakpoint_2Z_5V:
breakpoint_enable((Breakpoint*) word2ptr(p0), (boolean) paramBase[1]);
break;
case firmwareExceptionHandler_4Ljava_3lang_3Throwable_2II_5V:
firmware_exception_handler((Throwable *)p0, paramBase[1], paramBase[2]);
break;
case exitThread_4_5V:
currentThread->state = DEAD;
schedule_request(REQUEST_SWITCH_THREAD);
break;
case updateThreadFlags_4Ljava_3lang_3Thread_2II_5I:
((Thread *)p0)->flags |= paramBase[1];
((Thread *)p0)->flags &= ~paramBase[2];
//printf("m %x %d\n", p0, ((Thread *)p0)->flags);
push_word(((Thread *)p0)->flags);
break;
default:
return throw_new_exception(JAVA_LANG_NOSUCHMETHODERROR);
}
return EXEC_CONTINUE;
}
SINT main(void)
{
#ifdef NO_RUN_ENTER_STOP_EXIT
init_OS_flag(); /* this should be called before device init */
nxt_device_init();
ecrobot_initDeviceStatus(); // added 10/28/2010 to fix a bug by tchikama
ecrobot_init_nxtstate();
if (execution_mode() == EXECUTED_FROM_FLASH)
{
/*
* Call buttons_get() because ecrobot_get_button_state() has button bouncer.
* The button bouncer requires multiple periodical calls to make it work, but
* in this case, only single call (no while loop), so buttons_get is called.
*/
if ((buttons_get() & 0x0F) == (ENTER_PRESSED | STOP_PRESSED))
{
/* set flash request and shut down the NXT
* at the next start, NXT BIOS will be executed.
*/
display_clear(0);
display_goto_xy(0, 0);
display_string("PWR ON: NXT BIOS");
display_update();
systick_wait_ms(1000);
set_flash_request();
display_clear(1);
systick_wait_ms(10);
nxt_lcd_power_down(); /* reset LCD hardware */
systick_wait_ms(10);
while(1)
{
nxt_avr_power_down();
}
}
}
/* device init should be called prior to running the application */
ecrobot_device_initialize();
ecrobot_setDeviceInitialized();
nxt_motor_set_count(NXT_PORT_A, 0);
nxt_motor_set_count(NXT_PORT_B, 0);
nxt_motor_set_count(NXT_PORT_C, 0);
cpp_constructor();
display_clear(1);
systick_wait_ms(10);
#ifdef NXT_JSP
interrupts_get_and_disable();
#else
disable_int(); /* set_OS_flag and Start OS have to be atomic */
#endif
set_OS_flag(); /* this shoud be called before starting OS */
#ifdef NXT_JSP
lejos_osek_run(); /* start TOPPERS JSP */
#else
StartOS(1); /* start TOPPERS OSEK */
#endif
/* never reached here */
#else
/*
* Default start up sequence
*/
U32 st;
U32 last_act_time = 0;
U32 flash_req_cnt = 0;
init_OS_flag(); /* this should be called before device init */
nxt_device_init();
ecrobot_initDeviceStatus(); // added 10/28/2010 to fix a bug by tchikama
ecrobot_init_nxtstate();
show_splash_screen();
show_main_screen();
display_status_bar(1); /* clear status bar */
add_status_info(execution_mode());
display_status_bar(0); /* update status bar */
while(1)
{
/* device init should be called prior to running the application */
ecrobot_device_initialize();
ecrobot_setDeviceInitialized();
/* check the buttons every 10msec */
st = systick_get_ms();
if (st >= last_act_time + 10)
{
last_act_time = st;
ecrobot_poll_nxtstate();
display_status_bar(0);
/*
* executed in FLASH: setup for the application flash
* executed in SRAM: no effect
*/
if ((ecrobot_get_button_state() == (ENTER_PRESSED | STOP_PRESSED)) &&
(execution_mode() == EXECUTED_FROM_FLASH))
{
flash_req_cnt++;
/* keep pusing ENTER + STOP buttons more than 1000msec */
if (flash_req_cnt >= 100)
{
/* set flash request and shut down the NXT
* at the next start, NXT BIOS will be executed.
*/
ecrobot_device_terminate();
set_flash_request();
display_clear(1);
systick_wait_ms(10);
nxt_lcd_power_down(); /* reset LCD hardware */
systick_wait_ms(10);
while(1)
{
nxt_avr_power_down();
}
}
}
else
{
flash_req_cnt = 0;
if ((ecrobot_get_button_state() == EXIT_PRESSED) || (systick_get_ms() > SLEEP_TIME))
{
/* shut down the NXT */
ecrobot_device_terminate();
display_clear(1);
systick_wait_ms(10);
nxt_lcd_power_down(); /* reset LCD hardware */
systick_wait_ms(10);
while(1)
{
nxt_avr_power_down();
}
}
else if (ecrobot_get_button_state() == RUN_PRESSED)
{
nxt_motor_set_count(NXT_PORT_A, 0);
nxt_motor_set_count(NXT_PORT_B, 0);
nxt_motor_set_count(NXT_PORT_C, 0);
cpp_constructor();
display_clear(1);
systick_wait_ms(10);
#ifdef NXT_JSP
interrupts_get_and_disable();
#else
disable_int(); /* set_OS_flag and Start OS have to be atomic */
#endif
set_OS_flag(); /* this shoud be called before starting OS */
#ifdef NXT_JSP
lejos_osek_run(); /* start TOPPERS JSP */
#else
StartOS(1); /* start TOPPERS OSEK */
#endif
/* never reached here */
}
}
}
}
#endif
return 0;
}
void SC_doCtrl(SpeedCtrl *self)
{
float speed = S_getSpeed(&mSpeed,systick_get_ms());
float forward = PSC_calcSpeedCtrlVal(self->mPIDSpeedCtrl,S_getTargSpeed(&mSpeed),S_getBfSpeed(&mSpeed),speed,systick_get_ms()*0.001);
WheelActuator_set_forward(&wheelActuator ,forward);
}
